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Human Observation-Inspired Trajectory Prediction for Autonomous Driving in Mixed-Autonomy Traffic Environments
Haicheng Liao1; Shangqian Liu1; Yongkang Li2; Zhenning Li3; Chengyue Wang4; Bonan Wang5; Yanchen Guan6; Chengzhong Xu1
2024-05
Conference NameProceedings of the Thirty-Third International Joint Conference on Artificial Intelligence
Source PublicationProceedings - IEEE International Conference on Robotics and Automation
Pages14212 - 14219
Conference Date13-17 May 2024
Conference PlaceYokohama
CountryJapan
PublisherInstitute of Electrical and Electronics Engineers Inc.
Abstract

In the burgeoning field of autonomous vehicles (AVs), trajectory prediction remains a formidable challenge, especially in mixed autonomy environments. Traditional approaches often rely on computational methods such as time-series analysis. Our research diverges significantly by adopting an interdisciplinary approach that integrates principles of human cognition and observational behavior into trajectory prediction models for AVs. We introduce a novel 'adaptive visual sector' mechanism that mimics the dynamic allocation of attention human drivers exhibit based on factors like spatial orientation, proximity, and driving speed. Additionally, we develop a 'dynamic traffic graph' using Convolutional Neural Networks (CNN) and Graph Attention Networks (GAT) to capture spatio-temporal dependencies among agents. Benchmark tests on the NGSIM, HighD, and MoCAD datasets reveal that our model (GAVA) outperforms state-of-the-art baselines by at least 15.2%, 19.4%, and 12.0%, respectively. Our findings underscore the potential of leveraging human cognition principles to enhance the proficiency and adaptability of trajectory prediction algorithms in AVs.

DOI10.1109/ICRA57147.2024.10611104
URLView the original
Language英語English
Scopus ID2-s2.0-85202433799
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Document TypeConference paper
CollectionDEPARTMENT OF CIVIL AND ENVIRONMENTAL ENGINEERING
THE STATE KEY LABORATORY OF INTERNET OF THINGS FOR SMART CITY (UNIVERSITY OF MACAU)
DEPARTMENT OF COMPUTER AND INFORMATION SCIENCE
Corresponding AuthorZhenning Li
Affiliation1.University of Macau, State Key Laboratory of Internet of Things for Smart City, Department of Computer and Information Science, Macao
2.University of Electronic Science and Technology of China, Department of Information and Software Engineering, Chengdu, China
3.University of Macau, State Key Laboratory of Internet of Things for Smart City, Departments of Civil and Environmental Engineering and Computer and Information Science, Macao
4.University of Macau, State Key Laboratory of Internet of Things for Smart City, Departments of Civil and Environmental Engineering, Macao
5.Macau University of Science and Technology, Faculty of Innovation Engineering, Macao
6.Tsinghua University, School of Vehicle and Mobility, Beijing, China
First Author AffilicationUniversity of Macau
Corresponding Author AffilicationUniversity of Macau
Recommended Citation
GB/T 7714
Haicheng Liao,Shangqian Liu,Yongkang Li,et al. Human Observation-Inspired Trajectory Prediction for Autonomous Driving in Mixed-Autonomy Traffic Environments[C]:Institute of Electrical and Electronics Engineers Inc., 2024, 14212 - 14219.
APA Haicheng Liao., Shangqian Liu., Yongkang Li., Zhenning Li., Chengyue Wang., Bonan Wang., Yanchen Guan., & Chengzhong Xu (2024). Human Observation-Inspired Trajectory Prediction for Autonomous Driving in Mixed-Autonomy Traffic Environments. Proceedings - IEEE International Conference on Robotics and Automation, 14212 - 14219.
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